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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/block_jacobi_preconditioner.h"
#include <memory>
#include <random>
#include <vector>
#include "Eigen/Dense"
#include "ceres/block_random_access_diagonal_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/linear_least_squares_problems.h"
#include "gtest/gtest.h"
namespace ceres::internal {
TEST(BlockSparseJacobiPreconditioner, _) {
constexpr int kNumtrials = 10;
BlockSparseMatrix::RandomMatrixOptions options;
options.num_col_blocks = 3;
options.min_col_block_size = 1;
options.max_col_block_size = 3;
options.num_row_blocks = 5;
options.min_row_block_size = 1;
options.max_row_block_size = 4;
options.block_density = 0.25;
std::mt19937 prng;
Preconditioner::Options preconditioner_options;
ContextImpl context;
preconditioner_options.context = &context;
for (int trial = 0; trial < kNumtrials; ++trial) {
auto jacobian = BlockSparseMatrix::CreateRandomMatrix(options, prng);
Vector diagonal = Vector::Ones(jacobian->num_cols());
Matrix dense_jacobian;
jacobian->ToDenseMatrix(&dense_jacobian);
Matrix hessian = dense_jacobian.transpose() * dense_jacobian;
hessian.diagonal() += diagonal.array().square().matrix();
BlockSparseJacobiPreconditioner pre(preconditioner_options, *jacobian);
pre.Update(*jacobian, diagonal.data());
// The const_cast is needed to be able to call GetCell.
auto* m = const_cast<BlockRandomAccessDiagonalMatrix*>(&pre.matrix());
EXPECT_EQ(m->num_rows(), jacobian->num_cols());
EXPECT_EQ(m->num_cols(), jacobian->num_cols());
const CompressedRowBlockStructure* bs = jacobian->block_structure();
for (int i = 0; i < bs->cols.size(); ++i) {
const int block_size = bs->cols[i].size;
int r, c, row_stride, col_stride;
CellInfo* cell_info = m->GetCell(i, i, &r, &c, &row_stride, &col_stride);
Matrix actual_block_inverse =
MatrixRef(cell_info->values, row_stride, col_stride)
.block(r, c, block_size, block_size);
Matrix expected_block = hessian.block(
bs->cols[i].position, bs->cols[i].position, block_size, block_size);
const double residual = (actual_block_inverse * expected_block -
Matrix::Identity(block_size, block_size))
.norm();
EXPECT_NEAR(residual, 0.0, 1e-12) << "Block: " << i;
}
options.num_col_blocks++;
options.num_row_blocks++;
}
}
TEST(CompressedRowSparseJacobiPreconditioner, _) {
constexpr int kNumtrials = 10;
CompressedRowSparseMatrix::RandomMatrixOptions options;
options.num_col_blocks = 3;
options.min_col_block_size = 1;
options.max_col_block_size = 3;
options.num_row_blocks = 5;
options.min_row_block_size = 1;
options.max_row_block_size = 4;
options.block_density = 0.25;
std::mt19937 prng;
Preconditioner::Options preconditioner_options;
ContextImpl context;
preconditioner_options.context = &context;
for (int trial = 0; trial < kNumtrials; ++trial) {
auto jacobian =
CompressedRowSparseMatrix::CreateRandomMatrix(options, prng);
Vector diagonal = Vector::Ones(jacobian->num_cols());
Matrix dense_jacobian;
jacobian->ToDenseMatrix(&dense_jacobian);
Matrix hessian = dense_jacobian.transpose() * dense_jacobian;
hessian.diagonal() += diagonal.array().square().matrix();
BlockCRSJacobiPreconditioner pre(preconditioner_options, *jacobian);
pre.Update(*jacobian, diagonal.data());
auto& m = pre.matrix();
EXPECT_EQ(m.num_rows(), jacobian->num_cols());
EXPECT_EQ(m.num_cols(), jacobian->num_cols());
const auto& col_blocks = jacobian->col_blocks();
for (int i = 0, col = 0; i < col_blocks.size(); ++i) {
const int block_size = col_blocks[i].size;
int idx = m.rows()[col];
for (int j = 0; j < block_size; ++j) {
EXPECT_EQ(m.rows()[col + j + 1] - m.rows()[col + j], block_size);
for (int k = 0; k < block_size; ++k, ++idx) {
EXPECT_EQ(m.cols()[idx], col + k);
}
}
ConstMatrixRef actual_block_inverse(
m.values() + m.rows()[col], block_size, block_size);
Matrix expected_block = hessian.block(col, col, block_size, block_size);
const double residual = (actual_block_inverse * expected_block -
Matrix::Identity(block_size, block_size))
.norm();
EXPECT_NEAR(residual, 0.0, 1e-12) << "Block: " << i;
col += block_size;
}
options.num_col_blocks++;
options.num_row_blocks++;
}
}
} // namespace ceres::internal